CspaceFreePolytope::SeparationCertificateResult Struct Reference

Detailed Description

We certify that a pair of geometries is collision free in the C-space region {s | Cs<=d, s_lower<=s<=s_upper} by finding the separating plane and the Lagrangian multipliers.

This struct contains the certificate, that the separating plane {x | aᵀx+b=0 } separates the two geometries in separating_planes()[plane_index] in the C-space polytope.

#include <drake/geometry/optimization/cspace_free_polytope.h>

Public Member Functions
	SeparationCertificateResult ()=default
	~SeparationCertificateResult () final
const std::vector< SeparatingPlaneLagrangians > &	lagrangians (PlaneSide plane_side) const
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	SeparationCertificateResult (const SeparationCertificateResult &)=default
SeparationCertificateResult &	operator= (const SeparationCertificateResult &)=default
	SeparationCertificateResult (SeparationCertificateResult &&)=default
SeparationCertificateResult &	operator= (SeparationCertificateResult &&)=default
Public Member Functions inherited from SeparationCertificateResultBase
	SeparationCertificateResultBase ()=default
virtual	~SeparationCertificateResultBase ()

Public Attributes
std::vector< SeparatingPlaneLagrangians >	positive_side_rational_lagrangians
std::vector< SeparatingPlaneLagrangians >	negative_side_rational_lagrangians
Public Attributes inherited from SeparationCertificateResultBase
int	plane_index {-1}
Vector3< symbolic::Polynomial >	a
	The separating plane is { x | aᵀx+b=0 }.
symbolic::Polynomial	b
Eigen::VectorXd	plane_decision_var_vals
solvers::MathematicalProgramResult	result

Additional Inherited Members
Protected Member Functions inherited from SeparationCertificateResultBase
	SeparationCertificateResultBase (const SeparationCertificateResultBase &)=default
SeparationCertificateResultBase &	operator= (const SeparationCertificateResultBase &)=default
	SeparationCertificateResultBase (SeparationCertificateResultBase &&)=default
SeparationCertificateResultBase &	operator= (SeparationCertificateResultBase &&)=default

Constructor & Destructor Documentation

SeparationCertificateResult() [1/3]

SeparationCertificateResult ( const SeparationCertificateResult & )

default

SeparationCertificateResult() [2/3]

SeparationCertificateResult ( SeparationCertificateResult && )

default

SeparationCertificateResult() [3/3]

SeparationCertificateResult ( )

default

~SeparationCertificateResult()

~SeparationCertificateResult ( )

final

Member Function Documentation

lagrangians()

const std::vector< SeparatingPlaneLagrangians > & lagrangians

(

PlaneSide

plane_side

)

const

operator=() [1/2]

SeparationCertificateResult & operator= ( const SeparationCertificateResult & )

default

operator=() [2/2]

SeparationCertificateResult & operator= ( SeparationCertificateResult && )

default

Member Data Documentation

negative_side_rational_lagrangians

std::vector<SeparatingPlaneLagrangians> negative_side_rational_lagrangians

positive_side_rational_lagrangians

std::vector<SeparatingPlaneLagrangians> positive_side_rational_lagrangians

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The documentation for this struct was generated from the following file:

• drake/geometry/optimization/cspace_free_polytope.h